Experiments Comparing Precision of Stereo-Vision Approaches for Control of an Industrial Manipulator

  • John-David Yoder
  • Jeffrey West
  • Eric Baumgartner
  • Mathias Perrollaz
  • Michael Seelinger
  • Matthew Robinson
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 88)

Abstract

Despite years of research in the area of robotics, the vast majority of industrial robots are still used in “teach-repeat” mode. This requires that the workpiece be in exactly the same position and orientation every time. In many high-volume robotics applications, this is not a problem, since the parts are likely to be fixtured anyway. However, in small to medium lot applications, this can be a significant limitation. The motivation for this project was a corporation who wanted to explore the use of visual control of a manipulator to allow for automated teaching of robot tasks for parts that are run in small lot sizes.

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Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  • John-David Yoder
    • 1
  • Jeffrey West
    • 1
  • Eric Baumgartner
    • 1
  • Mathias Perrollaz
    • 2
  • Michael Seelinger
    • 3
  • Matthew Robinson
    • 4
  1. 1.Ohio Northern UniversityAdaUSA
  2. 2.Inria Rhône-AlpesSaint IsmierFrance
  3. 3.Yoder Software Inc.South BendUSA
  4. 4.Jet Propulsion LaboratoryPasadenaUSA

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